From biological inspiration toward next-generation manipulators: manipulator control focused on human tasks

This paper presents our approach to extend the niche of behavior-based robotics toward manipulation. We use results from neuroscience to derive some qualitative design rules for the mechanics of the manipulator, resulting in a next-generation manipulator, the "soft arm". By defining the basic behaviors of the manipulator as trajectory-producing behaviors (which is also biologically plausible), we have designed a first test case: writing on a board with a mobile manipulator. The soft arm has not yet been developed; therefore, we have emulated such a soft robot arm on an industrial robot.     

InAs quantum dot photonic crystal lasers and their temperature dependence

We report on the demonstration of optically pumped photonic crystal lasers with InAs quantum dot active regions operating at room temperature near 1310 nm. Absorbed threshold pump powers as low as 25 /spl mu/W are observed. We also extract a characteristic temperature of 17 K, which is attributed to limitations caused by surface recombination.     

Experiments with small V-band waveguide reflector feeds

The radiation patterns of simple rectangular waveguide feeds have been measured at V band. A low-cost test arrangement, operating in the far field but without any absorbers, is shown to give better than 0.5 dB repeatability and more than 30 dB of dynamic range. The general rules of waveguide-feed design for reflector antennas are applicable, but the tendency of narrow feed patterns is somewhat emphasized compared to observations in earlier work at C or X band. For horizontal polarization, the difference is 5 dB at 90/spl deg/ between WR-28 and WR-90 hardware. This is partly caused by an increase in the relative guide material thickness at shorter wavelengths. No clear connection between pattern widths of the two linear polarizations was observed if the guide height was increased, the largest momentary deviation being 3 dB for a rectangular 7.1 by 7.1 millimeter feed. Changes in the guide width had a monotone effect up to 3 dB at 90/spl deg/ offset. Very small feed aperture sizes, around /spl lambda//4 or less, did not show respective widening of 1 dB patterns, although such expected effects were visible at lower amplitude levels.     

Comparative Study of Different Adaptive Window Protocols

We study an Adaptive Window Protocol (AWP) with general increase and decrease profiles in the presence of window dependent random losses. We derive a steady-state Kolmogorov equation, and then obtain its solution in analytic form for particular TCP versions proposed for high speed networks, such as Scalable TCP and HighSpeed TCP. We also relate window evolution under an AWP to workload process in queueing systems; this observation gives us a way to compare various AWP protocols.     

On the complexity of sphere decoding in digital communications

Sphere decoding has been suggested by a number of authors as an efficient algorithm to solve various detection problems in digital communications. In some cases, the algorithm is referred to as an algorithm of polynomial complexity without clearly specifying what assumptions are made about the problem structure. Another claim is that although worst-case complexity is exponential, the expected complexity of the algorithm is polynomial. Herein, we study the expected complexity where the problem size is defined to be the number of symbols jointly detected, and our main result is that the expected complexity is exponential for fixed signal-to-noise ratio (SNR), contrary to previous claims. The sphere radius, which is a parameter of the algorithm, must be chosen to ensure a nonvanishing probability of solving the detection problem. This causes the exponential complexity since the squared radius must grow linearly with problem size. The rate of linear increase is, however, dependent on the noise variance, and thus, the rate of the exponential function is strongly dependent on the SNR. Therefore sphere decoding can be efficient for some SNR and problems of moderate size, even though the number of operations required by the algorithm strictly speaking always grows as an exponential function of the problem size.     

Micro- and nanofabrication processes for hybrid synthetic and biological system fabrication

The application of micro- and nanofabrication processes to the development of hybrid synthetic and biological systems may enable the production of new devices such as controllable transporters, gears, levers, micropumps, or microgenerators powered by biological molecular motors. However, engineering these hybrid devices requires fabrication processes that are compatible with biological materials such as kinesin motor proteins and microtubules. In this paper, the effects of micro- and nanofabrication processing chemicals and resists on the functionality of casein, kinesin, and microtubule proteins are systematically examined to address the important missing link of the biocompatibility of micro- and nanofabrication processes needed to realize hybrid system fabrication. It is found that both casein, which is used to prevent motor denaturation on surfaces, and kinesin motors are surprisingly tolerant of most of the processing chemicals examined. Microtubules, however, are much more sensitive. Exposure to the processing chemicals leads to depolymerization, which is partially attributed to the pH of the solutions examined. When the chemicals were diluted in aqueous buffers, a subset of them no longer depolymerized microtubules and in their diluted forms still worked as resist removers. This approach broadens the application of micro- and nanofabrication processes to hybrid synthetic and biological system fabrication.     

Multiservice allocation for multiaccess wireless systems

This paper discusses principles for allocating multiple bearer services onto different subsystems in multiaccess wireless systems. Based on the included subsystem's multiservice capacities, under certain constraints near-optimum subsystem service allocations that maximize combined multiservice capacity are derived through simple optimization procedures. These favorable service allocations are either extreme points where services, as far as possible, are allocated to the subsystems best at supporting them, or they are characterized by the relative efficiency of supporting services being equal in all subsystems. The consequences of this include that services should typically be mixed in subsystems with convex capacity regions and isolated in subsystems with concave capacity regions. Simple user assignment algorithms based on this are also discussed. Additionally, illustrating the main findings of the analysis, some system examples are given, including a case study with combined global system for mobile communications (GSM) and wideband code-division multiple-access (WCDMA) systems. The gain of using the proposed service allocation principles compared to a reference case of maintaining equal service mixes in all subsystems depends on the shape of the subsystem capacity regions; the more different the capacity regions, the larger the gain. In the GSM and WCDMA case study, capacity gains of up to 100% in terms of supported data users for a fixed voice traffic load are achieved.     

Frequency shift keyed narrowband interference rejection: optimal exponential weighting factor for the RLS algorithm

Cochannel narrowband interference can limit the performance of direct sequence spread spectrum (DSSS) and high frequency (HF) systems. Narrowband interference (NBI) can be single tone, chirped or frequency shift keyed (FSK) in nature and numerous techniques for its removal have been proposed. Linear adaptive prediction filters based on autoregressive modelling have been suggested owing to their ability to perform in a non-stationary environment. In the FSK narrowband interference case, adaptive filters are susceptible to excess residual errors owing to instantaneous frequency step changes and the finite convergence time required for the filter to adapt to a new interference frequency. The signal degradation owing to this type of interference becomes greater in high SNR regimes and has been found to be a function of the frequency parameters of the FSK interference signal. The paper discusses the convergence and frequency tracking properties of the recursive least squares (RLS) adaptive lattice filter using a posteriori estimation errors in the presence of FSK narrowband interference. An optimal exponential weighting factor that balances convergence time and steady state error is derived for this case of NBI. Results are compared to those of a previously proposed fast converging minimum frequency error (FCMFE) RLS lattice filter.     

A method of determining the effective axial demagnetizing factor of an irregular hexagonal magnetic insulator

The shape demagnetizing factors of a planar magnetic insulator are of some interest in the design of a number of microwave ferrite components. One means of experimentally evaluating these quantities, in the case of a disk geometry, is to measure the Kittel line and to make use of a standard identity. Another method, introduced here, is to extract the axial demagnetizing factor by having recourse to the intersections of the split branches of a gyromagnetic resonator. The letter includes measurements on the axial demagnetizing factor of an irregular hexagonal geometry for three different values of saturation magnetization.     

On the stationary distribution of speed and location of random waypoint

In "Stationary distributions for the random waypoint mobility model" (TMC, Vol. 3, No, 1), Navidi and Camp find the stationary distribution of the random waypoint model, with or without pause on a rectangular area. In this short note, we show that, under the stationary regime, speed and location are independent.